This is a very simple program written in 2 hours just to illustrate the capabilities of Xbox Kinect to perform Visual SLAM with the MRPT libraries. It is not supposed to be used for even medium-sized maps.
– Point to some static, near object.
– Press ‘r’ to reset the map.
– Start moving the Kinect slowly. Take care that at least 3-5 features exist at all time.
Working principle: The program creates a “key-frame” for each 10cm or 10deg the camera moves, then establish the 6D relative pose of the camera to the set of tracked features at the last “key-frame”.